Using open-source platform for trajectory control of DC motors

被引：0
|
作者：
Aguilar-Acevedo, Francisco [1 ]
Granados Alejo, Vignaud [1 ]
机构：
[1] Univ Politecn Guanajuato, Dept Engn Robot, Guanajuato, Mexico
来源：
2013 IEEE INTERNATIONAL AUTUMN MEETING ON POWER, ELECTRONICS AND COMPUTING (ROPEC) | 2013年
关键词：
Open-source platform; Arduino UNO; trajectory control; discrete-time PID controller; cubic polynomial trajectory;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
This paper shows how the open-source platform Arduino UNO can be used for trajectory control of DC gearmotors with encoder. The system allowed the angular position control of two motors through an electronic system and software written to firmware running on the Arduino UNO and host computer. The microcontroller's board computes cubic polynomial trajectories to connect an initial to a final angular position, using a PID law programmed. The associated validating tests are discussed. At the end, the use of the system for controlling a robot of two-degree-of-freedom (2-dof) is presented.
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页数：5
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